Vision-based nonlinear tracking controllers with uncertain robot-camera parameters

摘要

This paper considers the problem of position tracking control of planar robot manipulators via visual servoing in the presence of parametric uncertainty associated with the robot mechanical dynamics and/or the camera system. Specifically, by assuming exact knowledge of the mechanical parameters, we design an adaptive camera calibration controller that compensates for uncertain camera parameters and ensures global asymptotic position tracking. We then develop an adaptive robot controller that accounts for parametric uncertainty throughout the entire robot-camera system while producing global asymptotic position tracking. Experimental results illustrating the viability of the adaptive controllers and extensions regarding robust control and redundant robot manipulators are also included.